CN105722383A

CN105722383A - Rice transplanter

Info

Publication number: CN105722383A
Application number: CN201480061614.9A
Authority: CN
Inventors: 土井邦夫; 三宅康司; 石川彬
Original assignee: Yanmar Co Ltd
Current assignee: Yanmar Power Technology Co Ltd
Priority date: 2013-11-15
Filing date: 2014-11-13
Publication date: 2016-06-29
Anticipated expiration: 2034-11-13
Also published as: CN105722383B; WO2015072521A1; KR101869175B1; KR20160085833A

Abstract

Provided is a rice transplanter that detects the surface of a field, corrects deviations between the field ground-contacting surface detected by a float and the actual field surface, and detects an appropriate planting height, thus preventing planting defects. The rice transplanter, which is provided with a float that detects the field ground-contacting surface, is provided with a sensor that detects the field surface and that is provided separately from the float. The sensor has a detection unit, which tracks the field surface, and a support unit, which supports the detection unit in a manner able to oscillate, and the field surface height is detected by measuring the angle of oscillation of the detection unit when tracking the field surface.

Description

Rice transplanter

Technical field

The present invention relates to rice transplanter.

Background technology

It was known to following rice transplanter in the past, it possesses the rice transplanter hull of detection field ground plane, surface, field is detected by this rice transplanter hull, and according to its testing result detect rice shoot plant height, thus while the portion of planting is adjusted to suitable height, while what carry out rice shoot plants (for example, with reference to patent documentation 1).

Patent documentation 1: Japanese Unexamined Patent Publication 2012-170426 publication

Due to rice transplanter hull because of its deadweight from the depression of surface, field, cause producing deviation between actual surface, field and the field ground plane detected by rice transplanter hull, therefore cannot be adjusted to suitable height of planting, thus there is generation to plant bad situation.

Summary of the invention

The problem of the present invention is in that to provide a kind of rice transplanter, by detecting surface, field, the field ground plane of rice transplanter hull detection is modified with the deviation on actual surface, field, detects and suitable plants height, thus preventing from planting bad.

The rice transplanter of the present invention, possesses the rice transplanter hull of detection field ground plane, wherein, possesses sensor, this sensor and described rice transplanter hull are provided separately, and surface, field is detected, and described sensor has: follow the test section on surface, described field and supported by this test section as swinging support freely, pendulum angle when following surface, field by measuring described test section, detects the height on surface, described field.

In first embodiment of the present invention, described test section is made up of multiple barred bodies, by stay, same one end of multiple described barred bodies is supported, and multiple described barred body is can be fixed on described stay in the way of loading and unloading.

When observing in side, described barred body has multiple bending section, and a part for this bending section becomes the contact site contacted with surface, field.

Described barred body is resin forming product.

In second embodiment of the present invention, described test section has thickness in vertical or left and right directions, and is configured to be formed as the plate of rake shape, and the base portion of this plate forms.

Described sensor with swinging axle that the supporting of described test section is comprised for swinging support freely for fulcrum, it is possible to when making described test section swing upward, it is kept.

Described sensor with change described in plant the rotating linkage of rotary supporting shaft of transplant depth in portion and change the swing pivot position of described sensor.

Described sensor has: the potentiometric transducer of the swinging axle supporting of described test section comprised for swing support freely and the pendulum angle measuring this swinging axle, detects the height on surface, described field based on this pendulum angle.

According to the present invention, detect surface, field by sensor, thus detecting that suitable the planting of rice shoot highly prevents from planting bad.

Accompanying drawing explanation

Fig. 1 is the side view of rice transplanter.

Fig. 2 is the top view in the portion of planting.

Fig. 3 is the side view in the portion of planting.

Fig. 4 is the axonometric chart of sensor.

Fig. 5 indicates that the figure of other embodiments of barred body.

Fig. 6 indicates that the figure of the structure that barred body is installed on stay.

Fig. 7 indicates that the figure of the structure that the barred body of resin manufacture is installed on stay.

Fig. 8 indicates that the figure of other embodiments of barred body.

Fig. 9 indicates that the figure of the second embodiment of test section.

Figure 10 indicates that the figure of the stowing operation of sensor.

Figure 11 indicates that the figure of sensor and the linkage structure of bar.

Figure 12 indicates that the figure of sensor and other embodiments of the linkage structure of main shift lever.

Figure 13 indicates that the figure of the structure making sensor swing upward by wire.

Figure 14 is the side view in the portion of planting.

Figure 15 indicates that the figure of the change of transplant depth and the linkage structure of the swing pivot position of sensor.

Figure 16 indicates that the fixing figure of the swing pivot position of sensor.

Figure 17 indicates that the axonometric chart of the first embodiment of the structure of the pendulum angle of detection swinging axle.

Figure 18 indicates that the top view of the first embodiment of the structure of the pendulum angle of detection swinging axle.

Figure 19 indicates that the figure of the second embodiment of the structure of the pendulum angle of detection swinging axle.

Figure 20 indicates that the figure of the housing of the structure of the pendulum angle of storage detection swinging axle.

Figure 21 indicates that the figure of the 3rd embodiment of the structure of the pendulum angle of detection swinging axle.

Figure 22 indicates that the figure of the 4th embodiment of the structure of the pendulum angle of detection swinging axle.

Figure 23 indicates that the sensor figure relative to the allocation position of rice transplanter hull.

Detailed description of the invention

As it is shown in figure 1, rice transplanter 1 possesses electromotor 2, power transfering part 3, plants portion 4 and lifting unit 5.Plant portion 4 and be linked to body via lifting unit 5, by controlling the action of lifting unit 5, it is possible to automatic lifting along the vertical direction.Carry out the power of since engine 2 to the portion of planting 4 transmission via power transfering part 3.Rice transplanter 1 is travelled by the driving of electromotor 2, and plants rice shoot by planting portion 4 to field.

In the present embodiment, the situation planting operation carrying out the rice shoot with the transplant depth specified from surface, field when field is coated with Soil surface water is illustrated.It addition, also be able to, for the operation of planting when field does not cover Soil surface water, the technological thought that application is same.

The driving force carrying out since engine 2 is transferred to PTO shaft 7 at power transfering part 3 via variator 6.PTO shaft 7 is rearward protrusively provided from variator 6.Transmit power and drive the portion of planting 4 via universal joint from PTO shaft 7 to planting transmission case 8.It addition, be provided with driving axle 9 from variator 6 towards rear, and from driving axle 9 to transmit driving force to rear axle box 10.

Plant portion 4 possess plant arm 11, plant pawl 12, seedling carrying base 13, rice transplanter hull 14 etc..Plant pawl 12 to be installed on and plant arm 11.Plant arm 11 by rotating from planting the power that transmission case 8 is passed.

Rice shoot is supplied from seedling carrying base 13 to planting pawl 12.With the rotary motion planting arm 11, pawl 12 will be planted and insert in field, in the way of becoming the transplant depth (planting the pawl overhang of pawl 12) of regulation, plant rice shoot.Additionally in the present embodiment, adopt and revolving plant pawl but it also may what use crank type plants pawl.

Rice transplanter hull

As in figure 2 it is shown, plant portion 4 possess the multiple rice transplanter hulls (in the present embodiment for center hull 14A and two side hull 14B) configured in left-right direction.Each rice transplanter hull be installed on constitute plant portion 4 plant framework 15.More specifically, the front end of each rice transplanter hull is supported to and vertically can swing relative to planting framework 15, and the rear end of each rice transplanter hull can be installed on up and down and be arranged at, via linkage 17, the rotary supporting shaft 16 planting framework 15.

As it is shown on figure 3, be provided with the suitable sensors such as potentiometer at rotary supporting shaft 16 or linkage 17, detect connecting rod height h0 by this sensor.This connecting rod height h0 detects (planting the leading section of pawl 12 and the distance of rice transplanter hull bottom surface) as the pawl overhang planting pawl 12.And as described later, use the sinkage d of center hull 14A, detect as actual transplant depth h (h=h0+d).

The center hull 14A being configured at central authorities is used as the rice transplanter hull detection bodies of field ground plane detection.Specifically, determine the target angle β of rice transplanter hull based on the angle of oscillation (rotational angle of the pitch orientation corresponding with the resistance born at rice transplanter hull front surface: rice transplanter hull angle α) of the center hull 14A changed according to the concavo-convex of field, control to plant portion's height (transplant depth) by rice transplanter hull angle α in the way of target angle β.

Whole ground device

As in figure 2 it is shown, in the front portion in the portion of planting 4, namely the front of rice transplanter hull 14 (14A, 14B) be provided with the whole ground device 20 on the whole ground of ridge.Whole ground device 20 can change highly to be supported on plants framework 15.

Carry out the part of power of self-driven axle 9 via rear axle box 10 to whole ground power transmission shaft 21 branch, and transmit to the driving axle 25 towards two sides extensions via universal joint 22, power shaft 23 and whole ground transmission case 24 from whole ground power transmission shaft 21.It is fixed with multiple rotor 26 at each driving axle 25, makes rotor 26 rotate smooth field by driving the rotation of axle 25 to drive.

Whole ground device 20 is configured that central authorities are configured at front, with from central authorities towards two sides respectively from front towards back sweep.That is, central part it is set in more closer to the front than other positions.When top view, whole ground device 20 is configured to Ha shape.

Whole ground device 20 is configured to Ha shape during top view such that it is able to guarantee space in the front of center hull 14A.Utilize this space, make center hull 14A forwards move such that it is able to easily at the evener of center hull 14A and plant and configure sensor 30 described later between rice shoot.Even if it addition, the position of the rotary supporting shaft 16 of center hull 14A is configured at and position, hull 14B same side, side, it is also possible to utilize the space in center hull 14A front, as much as possible elongate central hull 14A.

Or, utilizing the space formed by whole ground device 20, the position of the rear end face of center hull 14A also is able to make front end face forwards extend with keeping intact, and is capable of the raising of the sensing detection precision based on rice transplanter hull in this case too.It addition, by the area of elongate central hull 14A, thus improving sensing detection ability, it is possible to by the elevating control in the portion of planting 4 for best.Additionally, when changing the rice transplanter hull shape of center hull 14A, it is possible to the flowing of mudflow and shape balance etc. are designed as the best such that it is able to improve the precision planting portion 4 elevating control further.

Sensor

As shown in FIG. 2 and 3, at the dead ahead planting position P in the portion of planting 4 of center hull 14A, it is provided with the sensor 30 that surface, field is detected.Sensor 30 extends from front towards rear.Sensor 30 can along pitch orientation free swaying ground supporting in planting framework 15, due to centered by its swing pivot by gravity sag, therefore, it is possible to maintain the state that leading section contacts with surface, field.That is, rice transplanter 1 is advanced in the way of the leading section of sensor 30 follows surface, field all the time.

By measuring the pendulum angle θ of sensor 30, it is possible to the position relationship detecting sensor 30 with field such that it is able to detect the actual height (planting the field apparent height of rice shoot) in field.So, detected the actual height in field by sensor 30, it is possible to measure the sinkage d (amount of sinking to the field of pureed) of center hull 14A.

As described above, be provided separately sensor 30 with the center hull 14A detected for field ground plane, by sensor 30 plant position P near the height on surface, detection field.So, the sensing detection before seedling growing is realized by sensor 30 such that it is able to realize the raising of sensing detection precision.

In the present embodiment, the side of rearward end that position P is the rice transplanter hull rotated via linkage 17 is planted.Additionally, plant the field after the dead ahead position of position P refers to plant rice shoot and utilizes the whole ground of rice transplanter hull, owing to the field under such stable state is carried out sensing detection, therefore, it is possible to reduce the concaveconvex shape impact that brings sensor 30 that surface, field occurs and the muddy water stream produced by rice transplanter hull brings the impact of sensor 30.

First embodiment

As shown in FIG. 2 and 3, sensor 30 has: copy the concavo-convex of surface, field and the test section 31 followed and the support 32 that can rotatably support test section 31 along pitch orientation.

Test section 31 is made up of multiple barred bodies 40, and the same end bearing of multiple barred bodies 40 is in stay 41, thus being formed as rake shape.Each barred body 40 extends along the longitudinal direction and configures abreast in left-right direction, and when observing in side, extends from its base portion towards the back lower place, and follows the leading section on surface, field to start to bend from middle part in the way of reduction from base end part side with the angle of horizontal plane.Stay 41 is fixed on pillar 42.

Support 32 includes: supports the stay 41 of each barred body 40, supports the pillar 42 of stay 41 and be arranged at the swinging axle 43 planting framework 15.The base end part of pillar 42 is fixed on swinging axle 43.Swinging axle 43 can rotatably be supported on along pitch orientation and plant framework 15.

As described above, test section 31 is supported on support 32 in the way of swinging freely, test section 31 is followed pendulum angle measurement during surface, field, thus detecting surface, field.

As shown in Figure 4, each barred body 40 of test section 31 is formed as wire, is fixed on stay 41 made of iron and is configured to rake shape on the basis making each barred body 40 be arranged in parallel.Barred body 40 as wire is suitable for the parts that iron wire etc. has the intensity of the degree that can keep shape relative to desired length.The base portion of each barred body 40 welds and is fixed on stay 41.

Each barred body 40 such as wire diameter is 3mm, arranges in the mode that spacing is 10mm.So, by test section 31 is slenderly constituted, thus reduce with the contact area of field and Soil surface water and reduce the lift of current, thus test section 31 is difficult to separate from field.Meanwhile, constituted test section 31 by multiple barred bodies 40 and be formed as rake shape, be therefore prevented from the engaging-in test section 31 of field trash, thus draining is good.

It addition, barred body 40 is configured to wire, thus being difficult to bear the impact of buoyancy, even if at body when paddy field is to run at high speed, it is also possible to follow surface, field.

As shown in Figure 5, it is also possible to make each barred body 40 be fixed on stay 41 after being arranged radially centered by stay 41, be thus configured to rake shape.

Each barred body 40 of composition test section 31 deforms in the interference because of stone etc., change the barred body 40 of deformation such that it is able to maintain the sensing detection precision on surface, field.Therefore test section 31 also is able to become each barred body 40 can be fixed on the structure of stay 41 in the way of loading and unloading.Each barred body 40 is detachably installed on the structure of stay 41 by following presentation.

The installation constitution of barred body

As shown in Figure 6, the recess of the shape corresponding with the base portion of barred body 40 (fixed part to stay 41) it is provided with at stay 41.Fixed part at each barred body 40 is provided with convex shaped part, includes the concavity of the shape corresponding with convex shaped part at recess.The convex shaped part making barred body 40 is chimeric with the concavity of stay 41, thus barred body 40 is fixed on stay 41.

In the embodiment shown in Fig. 6 (a), the stay 41 being divided into two in upper and lower central authorities is utilized to clamp and fixing barred body 40.

Barred body 40 forms the convex shaped part 50a that conquassation expands by pressing the part of its fixed part (base portion).It addition, at the recess 50b of each self-forming of the stay 41 split up and down shape corresponding with the shape of the fixed part of barred body 40 (base portion).The concavity 50c of the shape corresponding with convex shaped part 50a is included at recess 50b.And convex shaped part 50a in order to make barred body 40 is chimeric with the concavity 50c being formed at stay 41, and utilizes stay 41 to clamp from above-below direction and pass through bolt etc. and be fixed.

The concavity 50c of the shape corresponding with convex shaped part 50a is formed, thus being set to non-circular by the section shape of barred body 40, it is prevented that barred body 40 offsets from stay 41 at stay 41.It addition, the quantity of convex shaped part 50a is formed as multiple such that it is able to improve the effect preventing skew, it is possible to prevent barred body 40 from offseting from stay 41 further.

In the embodiment shown in Fig. 6 (b), when barred body 40 is embedded stay 41, it is pressed into from above by pressing plate 52 and fixes.

Convex shaped part 51a is formed respectively in the fixed part of barred body 40, the axial both sides of position that are namely pressed into by pressing plate 52.It addition, form the recess 51b of the shape corresponding with the shape of the fixed part of barred body 40 (base portion) at stay 41.The concavity 51c of the shape corresponding with convex shaped part 51a is included at recess 51b.And barred body 40 is embedded stay 41, it is pressed between two convex shaped part 51a from above by pressing plate 52 such that it is able to bolt etc., pressing plate 52 is fixed on stay 41.

Though it addition, omit diagram, but also being able to, by bolt etc., barred body 40 is directly fastened to stay 41.

By forming such structure such that it is able to unrelated and barred body 40 is easily loaded and unloaded on stay 41 with the material constituting test section 31.Therefore when barred body 40 deforms, by being individually replaced barred body 40 such that it is able to maintain the sensing detection precision of sensor 30.It addition, the barred body 40 that can select to have the shape corresponding with the situation in field, size, intensity etc. is installed on stay 41 such that it is able to improve sensing detection precision.

When by barred body 40 can being fixed on stay 41 in the way of loading and unloading, as constitute barred body 40 material, resin can also be used except the metals such as ferrum.The formability of resin is good such that it is able to be easily replaced, due to light compared with the metal such as ferrum, therefore, it is difficult to sink to the mud face in field.Additionally use the resin of low cost such that it is able to realize the attenuating of cost.

When by the barred body 40 of resin manufacture can being fixed on stay 41 in the way of loading and unloading, except above-mentioned installation constitution, it is also possible to form following installation constitution.

As it is shown in fig. 7, the barred body 40 as resin forming product is embedded and is fixed on stay 41.

The protruding body 53 that front end is umbrella shape shape it is upwardly formed, thus form the installing hole 54 embedded for each protruding body 53 at stay 41 in the side that the base portion side from each barred body 40 is orthogonal to the axial direction.Make the through installing hole 54 of protruding body 53 and make that the leading section of umbrella shape shape is prominent to be fixed.So, protruding body 53 is embedded installing hole 54 such that it is able to make installation easy by fixing for barred body 40.

Installing hole 54 is formed as the shape of long hole shape, rectangular-shaped etc non-positive round such that it is able to prevent the probability that barred body 40 is fulcrum with installing hole 54.It addition, arrange multiple protruding body 53 at barred body 40, multiple installing hole 54 is set at stay 41, thus also being able to prevent the rotation of barred body 40.

Other embodiments

As shown in Figure 8, barred body 55 is formed as having multiple bending section 56 in side when observing, and a part for bending section 56 becomes the contact site contacted with surface, field.The leading section following the surface, field of barred body 55 is formed as bending section 56, even if thus barred body 55 and the concavo-convex of field swing accordingly, a part for bending section 56 also becomes the contact site contacted with surface, field.

By having such shape, even if barred body 55 swings, it is also possible to the contact area with surface, field is ensured constant, therefore the surface pressing of contact site is remained constant such that it is able to maintain the sensing detection precision on surface, field.And, it is possible to the surface pressing of contact site is remained constant, therefore the interference of the stone etc. in resistance to field and be difficult to deform.Even if therefore using the materials such as ferrum to be formed, it is also possible to reduce the worry of the sensing detection precision on infringement surface, field.

Second embodiment

As shown in Figure 9, it is also possible to the test section of sensor 30 is formed the test section 57,58 of tabular.Form as one in the way of the connection of the base portion of the test section 57 of the shape of growing crosswise by having thickness along vertical or the test section 58 of the elongate shape in left-right direction with thickness and be fixed on stay 41.Shape of growing crosswise at this refers to that elongate shape is the shape instigating barred body 40 to increase along vertical in the shape that barred body 40 is longer with the direction that the contact area on surface, field increases.

In the embodiment shown in Fig. 9 (a), form as one in the way of connecting the base portion of the test section 57 with shape of growing crosswise, be fixed on stay 41 by bolt etc..Test section 57 is the plate of shape of growing crosswise, and increases with the contact area on surface, field, even if therefore being formed by heavier material (ferrum etc.), it is also possible to reduce surface pressing.

Owing to surface pressing can be reduced, therefore the interference of the stone etc. in the resistance to field of test section 57 and be difficult to deform.Even if therefore using the materials such as ferrum to form test section 57, it is also possible to reduce the worry of the sensing detection precision on infringement surface, field.

In the embodiment shown in Fig. 9 (b), form as one in the way of the connection of the base portion of the test section 58 by having elongate shape, and be fixed on stay 41 by bolt etc..Test section 58 is the plate of elongate shape, less with the contact area on surface, field, even if therefore being formed by lighter material (resin etc.), it is also possible to maintain surface pressing to a certain degree.

The test section 58 contact area with surface, field and Soil surface water can be reduced to reduce resistance, therefore, it is possible to maintain the sensing detection precision on surface, field.

It addition, test section 57,58 forms as one in the way of being connected by its base portion, but it also is able to be separately formed barred body part and be fixed on stay 41.

It addition, the material of the test section as sensor 30, it is also possible to use the marmem of titanium alloy etc. to be formed.By using such material, even if thus deforming because of the stone in field etc., also returning to the original form, therefore, it is possible to maintain the sensing detection precision on surface, field.

It addition, also be able to adopt following methods, it may be assumed that the test section 31 of sensor 30 is supported for being slidable in the vertical direction, use linear transducer etc. to measure this test section 31 height change vertically, detect surface, field thereby through sensor 30.

The storage of sensor

As shown in Figure 10, near the cardinal extremity of pillar 42, wire 60 is linked.Wire 60 extends upward from the linking part with pillar 42, is configured to be moved upward by pillar 42.

Wire 60 is pulled upward so that with wire 60 link pillar 42 swing upward with swinging axle 43 for fulcrum, make test section 31 swing upward.And, maintain the tension force relative to wire 60, thus test section 31 can keep when swinging upward.In other words, sensor 30 is received upward such that it is able to make test section 31 keep out of the way from surface, field.So, when body retreats, sensor 30 is made to receive upward such that it is able to avoid the leading section of test section 31 to run through in the soil in field such that it is able to suppress the breakage of sensor 30.

It addition, when sensor 30 is received upward, it is also possible to shake off to be piled up in the field trash etc. of test section 31, thus also being able to the sensing detection precision expecting to maintain the surface, field based on sensor 30.

Wire 60 is linked near the cardinal extremity of pillar 42 such that it is able to reduce the impact of the effect of moment when sensor 30 is swung, therefore, it is possible to reduce the impact of the sensing detection on the surface, field that sensor 30 carries out.

In rice transplanter 1, when body retreats and when body is turned, the portion of planting 4 is made to increase.Therefore the stowing operation of sensor 30 is made to link with the lifting action in the portion of planting 4 such that it is able to suppress the leading section of sensor 30 when body retreats to run through in the soil in field.

Specifically, as shown below, the lifting action in portion 4 and stowing operation link that links via wire 60 of sensor 30 are planted.

The other end (end of the opposition side of the side linked with same pillar 42) of wire 60 is linked to when the portion of planting 4 rises from the position separated with the linking part (position of linking part time more specifically for non-increasing) of pillar 42, and is linked to, in the way of the reception position above being maintained at by test section 31, the position being able to maintain that wire 60 tension force after the portion of planting 4 rises.

By becoming such structure, thus the vertical motion in test section 31 and the portion of planting 4 swings with swinging axle 43 gradually upward for fulcrum accordingly, and keep its state.If planting portion 4 to enter down maneuver, then test section 31 and down maneuver accordingly gradually downward side swing, and drop to plant position time, return to the position that surface, field can be carried out sensing detection.

Sensor 30 stowing operation upward can use the operating parts such as bar to realize.

As shown in figure 11, it is provided with carrying out the bar 61 of the stowing operation of sensor 30.Sensor 30 and bar 61 link via wire 60, and by the operation of bar 61, it is possible to storage sensor 30 up.

Bar 61 has: operating body 62 and the arm 63 extended downwards from operating body 62, the other end (lower end) at arm 63 is linked with wire 60.Bar 61 is configured to centered by the rotating fulcrum 64 of the middle part to be arranged at arm 63 to rotate freely.The tension force of wire 60 is regulated, thus receiving sensor 30 by the operation of bar 61.

Such as, bar 61 is configured at steering column such that it is able to easily carry out the stowing operation of sensor 30 when body is handled.

By becoming above structure such that it is able to sensor 30 is received by operation with bar 61 accordingly upward.Therefore when body retreats, bar 61 is operated, thus sensor 30 is received upward, it is possible to avoid the leading section following the test section 31 on surface, field to run through in the soil in field, therefore, it is possible to suppress the breakage of sensor 30.

As long as it addition, the structure that the storage of sensor 30 can be operated by above-mentioned structure, for instance can also forming replacement bar 61 and arrange switch, the operation with this switch changes the tension force of wire 60 accordingly to receive the structure of sensor 30.

The operation of main shift lever and linkage

The stowing operation of sensor 30 is more preferably and the operations linkage of main shift lever 65.

Main shift lever 65 linkage is linked to variator 6, along the guiding groove being formed at steering column, main shift lever 65 is operated such that it is able to the driving mode of rice transplanter 1 switches to advances, neutrality, retreats, fill the gaps with seedlings, each driving mode of movement etc.

In the present embodiment, the breakage of sensor 30 during in order to prevent body from retreating, the back operation of the stowing operation of sensor 30 and main shift lever 65 links.

Sensor 30 and main shift lever 65 link via wire 60.If operator make main shift lever 65 be positioned at going-back position, then via being connected to the suitable linkage of main shift lever 65 to regulate the tension force of wire 60, thus sensor 30 swings with swinging axle 43 upward for fulcrum.As long as making main shift lever 65 be positioned at going-back position, then it is able to maintain that the tension force of wire 60, thus keeping sensor 30 up.

So, the back operation of sensor 30 and operator swings in linkage upward, therefore when body retreats, it is possible to suppress the leading section of test section 31 to run through damaged in the soil in field.It addition, link with the back operation of operator, therefore when making that body is actual to be retreated, sensor 30 is received upward.Therefore, it is possible to suppress sensor 30 storage postpone cause run through in the soil in field.

It addition, when making the operations linkage of the stowing operation of sensor 30 and main shift lever 65, if making main shift lever 65 be positioned at going-back position, then the driving mode of rice transplanter 1 switches to retrogressing, and sensor 30 can being received, therefore need not other operating, thus improving operability.

The stowing operation of sensor 30 also be able to similarly with the operations linkage planting elevating lever.

Plant the lift cylinders that elevating lever is configured to the lifting unit 5 making the portion of planting 4 lift is comprised to be operated, if being operated along the guiding groove being formed at steering column planting elevating lever, then allow hand over into each action of the rising in the portion of planting 4, the decline planting portion 4, the beginning planted, the stopping planting etc.

If the stowing operation making sensor 30 and the lifting operations linkage planting the portion of planting 4 that elevating lever carries out, then carry out lifting operations to planting elevating lever, thus sensor 30 swings upward, therefore, it is possible to suppress the suitable position collision in test section 31 and the portion of planting 4.

Alternatively, it is also possible to be formed as following structure, it may be assumed that make main shift lever 65, the bar 61 of planting bar that other actions such as elevating lever are operated and the stowing operation of sensor 30 are coexisted, if the operation of either one carrying out in the bar of two sides, then storage sensor 30.But in such a situation it is preferred that for making main shift lever 65, planting the restoring action (storage of sensor 30 releases) of planting that the bar that other actions such as elevating lever are operated brings and have precedence over the storage solution division operation of bar 61.

In above structure, it is configured at the stowing operation and the main shift lever 65 that make sensor 30, plants use wire 60 the operating parts such as elevating lever, bar 61 links, but without the need for forming above-mentioned structure.Below so that the situation that the back operation of the stowing operation of sensor 30 and main shift lever 65 links is that example illustrates.

As shown in figure 12, as the structure that the back operation of the stowing operation with main shift lever 65 that make sensor 30 links, it is provided with microswitch 65a, control circuit 66 and clutch motor 67.

If microswitch 65a is set to make main shift lever 65 be positioned at going-back position, then abut.If making main shift lever 65 be positioned at going-back position, then by the detection signal input control circuit 66 of microswitch 65a, this control circuit 66 sends control signal based on this detection signal to the clutch motor 67 being arranged at swinging axle 43, thus the power by this clutch motor 67 makes sensor 30 swing upward.As described below in detail.

Main shift lever 65 is made to be positioned at going-back position, thus microswitch 65a opens, to control circuit 66 input detection signal.Based on this detection signal, control circuit 66 sends control signal to clutch motor 67, so that clutch motor 67 action.

Clutch motor 67 carries out action by connecting signal from the clutch of control circuit 66, output it axle and be connected to swinging axle 43, and then by the output from clutch motor 67 being transferred to swinging axle 43 from the actuating signal of control circuit 66, thus sensor 30 swings upward and is contained.

And, as long as making main shift lever 65 be positioned at going-back position, then microswitch 65a is maintained in the open state, and therefore sensor 30 is kept up.

If making main shift lever 65 be in other operating positions from going-back position, then microswitch 65a becomes closedown, operate the action releasing position from going-back position and be transfused to control circuit 66 as detection signal, based on this detection signal, send control signal to clutch motor 67.

Clutch motor 67 carries out action according to the clutch shutoff signal from control circuit 66, output it axle to cut off with swinging axle 43, thus the power from clutch motor 67 is interrupted relative to swinging axle 43, thus sensor 30 can swing freely relative to swinging axle 43, and return to the position that by test section 31, surface, field can be carried out sensing detection.

As shown in figure 13, it is possible to the base portion side at pillar 42 links wire 60 via elongated hole 68a.Base portion side at pillar 42 is formed with the locking protrusion 68b of the bottom that can be locked to elongated hole 68a, and on the top of elongated hole 68a, wire 60 is provided with motor 69.

Elongated hole 68a is configured at the position of the swing not interfering with sensor 30, and the swing that locking protrusion 68b is configured to sensor 30 is moved accordingly in elongated hole 68a.Elongated hole 68a can be installed on the position of the swing being not accompanied by sensor 30 and movement up or down.Such as it is installed on to be positioned at and plants framework 15 near pillar 42 base portion side.

By motor 69, wire 60 is pulled upward, thus elongated hole 68a is moved upward.Behind the bottom that locking protrusion 68b is locked to elongated hole 68a, sensor 30 is with swinging upward for swing pivot to the movement of the top of elongated hole 68a with swinging axle 43.

As described above, via elongated hole 68a, sensor 30 is pulled upward, thus the tension force of wire 60 will not directly act on swinging axle 43 and pillar 42, therefore, it is difficult to the durability of infringement sensor 30 such that it is able to maintain the sensing detection precision of sensor 30.

Linkage based on the sensor that transplant depth changes

In rice transplanter 1, the swing pivot position of sensor 30 and the change of transplant depth are changed in linkage.

Operator make rotary supporting shaft 16 rotate via the transplant depth adjusting rod (not shown) extended above to it, or make it rotate by actuator 70, the position relative to rice transplanter hull 14, the portion 4 is planted, therefore, it is possible to adjust the pawl overhang (transplant depth) planting pawl 12 it is thus possible to change.

In the present embodiment, change to prevent the change of the relative position in portion of planting 4 that the sensor 30 height relative to rice transplanter hull 14 causes with the change of transplant depth and rice transplanter hull 14, and change the swing pivot position of swinging axle 43 in linkage with the action of the rotary supporting shaft changing transplant depth.

As shown in figure 14, through being arranged on of the swinging axle 43 of sensor 30 is arranged at the gear-box 71 planting framework 15.

The structure that the pendulum angle to sensor 30 measures received by gear-box 71.The rear portion of gear-box 71 can be slidably mounted to plant framework 15 along vertical above-below direction.It is respectively facing arranged outside from the identical height of the two of gear-box 71 sides and has slide block 72.

In order to make each slide block 72 slide along vertical above-below direction, and it is provided with, planting framework 15, the guided plate 74 being fixedly installed via stay 73.Guided plate 74 has the elongated hole 75 along the longer shape of vertical above-below direction.Guided plate 74 is respectively arranged at two sides of gear-box 71, and slide block 72 is sticked in elongated hole 75 sliding freely.

By being formed as such structure, thus slide block 72 is slidable in the vertical direction in elongated hole 75, thus gear-box 71 can move to vertical above-below direction.

Actuator 70 and slide block 72 link via arm 76.One end of arm 76 is connected with the outlet side of actuator 70.The other end at the arm 76 linked with slide block 72 arranges elongated hole, and slide block 72 can be sticked in this elongated hole slidably.If driving actuator 70, then arm 76 is with actuator 70 for fulcrum, thus slide block 72 is slidable in the vertical direction in elongated hole 75.Slide block 72 is slidable in the vertical direction, and gear-box 71 moves along the vertical direction, thus the swing pivot position of sensor 30 is moved to vertical above-below direction.

So, the driving of actuator 70 and the mobile linkage of gear-box 71 are made such that it is able to what make the change of transplant depth and the swing pivot position of sensor 30 moves up and down linkage.

It addition, as in the present embodiment, the swing pivot position of sensor 30 is made to move to vertical above-below direction, thus such as compared with when moving via parallel rod etc., it is possible to move in less space, therefore save space.

In the present embodiment, make the change of the gear-box 71 and transplant depth comprising swinging axle 43 link accordingly, but also be able to rely on the presence or absence of the measuring method of pendulum angle, gear-box 71, only make the change of swinging axle 43 and transplant depth link accordingly.

As shown in Figure 15 (a), when being rotated to the direction making transplant depth shoal by rotary supporting shaft 16, the swing pivot position of sensor 30 is moved to direction under vertical.

When making transplant depth shoal, make rotary supporting shaft 16 rotate clockwise by actuator 70, meanwhile plant portion 4 and rise.Planting framework 15 to increase relative to the height of rice transplanter hull 14, the pawl overhang therefore planting pawl 12 reduces.The rotation of slide block 72 and rotary supporting shaft 16 is slided to direction under vertical accordingly in elongated hole 75, thus the swing pivot position of sensor 20 is moved to direction under vertical, remains constant by sensor 30 relative to the height of rice transplanter hull 14.

As shown in Figure 15 (b), when being rotated to the direction making transplant depth deepen by rotary supporting shaft 16, the swing pivot position of sensor 30 is moved to direction on vertical.

When making transplant depth deepen, make rotary supporting shaft 16 rotate counterclockwise by actuator 70, meanwhile plant portion 4 and decline.Planting the framework 15 height reduction relative to rice transplanter hull 14, the pawl overhang therefore planting pawl 12 increases.The rotation of slide block 72 and rotary supporting shaft 16 is slided to direction on vertical accordingly in elongated hole 75, thus the swing pivot position of sensor 30 is moved to direction on vertical, remains constant by sensor 30 relative to the height of rice transplanter hull 14.

As described above, the swing pivot position of sensor 30 and the change of transplant depth is made to move to vertical above-below direction accordingly, it is possible to remain constant by sensor 30 relative to the height of rice transplanter hull 14.Even if therefore changing transplant depth, also sensor 30 is remained constant relative to the elevation angle on surface, field such that it is able to maintain the sensing detection precision relative to surface, field.

Other embodiments

In the above-described embodiment, the structure making the swinging axle 43 of sensor 30 follow moving up and down of rice transplanter hull 14 and to move up and down is shown, even if sensor 30 not being remained constant relative to the height of rice transplanter hull 14, it is also possible to the change with transplant depth maintains the sensing detection precision on the surface, field of sensor 30 accordingly.

As shown in figure 16, gear-box 71 is fixed on and plants framework 15, thus the swing pivot position of sensor 30 is fixed.

If change transplant depth, then transplant depth setting position (angle of rotation of rotary supporting shaft 16) is detected, thus the characteristic value of control software design being modified according to angle of rotation.Utilize the control software design changing characteristic value, potentiometer etc. the testing result of the sensor 30 measured is modified, namely pendulum angle is modified such that it is able to the pendulum angle measurement to the change adding transplant depth.

Therefore, even if not making the swing pivot position of sensor 30 and the change of transplant depth link accordingly, it also is able to by sensor 30, the actual height in field be detected, and the sinkage d (amount of sinking to the field of pureed) of rice transplanter hull 14 is measured.

By forming such structure, from without making swing pivot position move, the impact of (loosen, rotary resistance etc.) therefore, it is difficult to the change caused by the rheological parameters' change with time of swing part.In addition, it is not necessary that set the parts of linkage with transplant depth, reduce thus realizing cost.

The structure of the pendulum angle of detection swinging axle

For the pendulum angle θ to sensor 30, namely the pendulum angle of swinging axle 43 detects, and uses potentiometric transducer 80.Potentiometric transducer 80 possesses the rotation of adjoint swinging axle 43 and the potentiometer type axle 81 that rotates, the anglec of rotation of this potentiometer type axle 81 is measured, thus the pendulum angle of swinging axle 43 is detected.

Hereinafter, the various embodiments relevant to the structure of potentiometric transducer 80 and configuration are illustrated.

First embodiment

In the first embodiment shown in Figure 17 and Figure 18, potentiometric transducer 80 possess with swinging axle 43 be arranged at coaxial on potentiometer type axle 81.

Potentiometric transducer 80 by with swinging axle 43 be arranged at coaxial in the way of be configured at the outside of one end of swinging axle 50.The potentiometer type axle 81 of potentiometric transducer 80 is set to swinging axle 43 side prominent.Potentiometer type axle 81 is connected to pillar 42 via arm 82 and steady pin 83.Arm 82 is arranged along the pillar 42 extended below backward.Potentiometer type axle 81 is fixed in one end of arm 82, and the other end of arm 82 is fixed on pillar 42 via steady pin 83.

It addition, potentiometric transducer 80 is arranged at the suitable position in the portion of planting 4 in the way of the position relative to swinging axle 43 does not change.

When surface, field concavo-convex followed by sensor 30, pillar 42 is with swinging axle 43 for a spot wobble.The swing of arm 82 and this pillar 42 is in linkage with potentiometer type axle 81 for a spot wobble.The pendulum angle of arm 82 is equal with the pendulum angle of swinging axle 43, therefore by the anglec of rotation of potentiometer type axle 81 is measured such that it is able to measure the pendulum angle of swinging axle 43.

So, by with swinging axle 43 be arranged at coaxial on potentiometer type axle 81 be connected to pillar 43 via arm 82 such that it is able to the pendulum angle of swinging axle 43 is detected.

As shown in Figure 17 and Figure 18, the pillar 42 being supported on swinging axle 43 can be formed as extending from its base end part towards the back lower place, and then the bent axle shape tortuous towards outside.

Pillar 42 is tortuous laterally such that it is able to guarantee space in the outside of base end part.This space is provided with potentiometric transducer 80 such that it is able to easily configuration potentiometric transducer 80.

As described above, potentiometer type axle 81 and swinging axle 43 are configured at coaxial on such that it is able to reduce loosen.

It addition, in the present embodiment, the pendulum angle of swinging axle 43 is detected via arm 82 but it also may potentiometer type axle 81 and swinging axle 43 are directly connected to, detect the pendulum angle of swinging axle 43.

Second embodiment

In the second embodiment shown in Figure 19, potentiometric transducer 80 possesses the potentiometer type axle 81 being connected to swinging axle 43 via sector gear 85.

Potentiometer type axle 81 and swinging axle 43 configure abreast.Driven shaft 86 prolongedly it is connected at potentiometer type axle 81.Swinging axle 43 and driven shaft 86 way portion wherein is fixed with sector gear 85 (be arranged at the sector gear 85A of swinging axle 43 and be arranged at the sector gear 85B of driven shaft 86) respectively in the way of engagement.

When surface, field concavo-convex followed by sensor 30, pillar 42 is with swinging axle 43 for a spot wobble.Sector gear 85A is with the swing rotary of pillar 42, thus the sector gear 85B engaged with sector gear 85A rotates around driven shaft 86.

The anglec of rotation of potentiometer type axle 81 is measured by potentiometric transducer 80, thus the anglec of rotation of driven shaft 86 is detected.Now, the gear ratio according to the sector gear 85A and sector gear 85B that are respectively arranged at driven shaft 86 and swinging axle 43, and the pendulum angle of swinging axle 43 is calculated by the anglec of rotation according to driven shaft 86.

In such a configuration, the gear ratio of sector gear 85A, 85B is modified, even thus the less swing of swinging axle 43 also is able to detect, therefore, it is possible to improve the detection energy based on sensor 30.It addition, be not arranged in potentiometer type axle 81 and swinging axle 43 being coaxially above arranged at the position separating an axle, thus the configuration degree of freedom of potentiometric transducer 80 increases.

As shown in figure 20, detection structure (being sector gear 85 in this case, namely transmit the structure of rotary motion from swinging axle 43 to potentiometer type axle 81) of the pendulum angle of swinging axle 43 can be accommodated in housing 87.

A part for driven shaft 86, sector gear 85A, 85B and swinging axle 43 is received by housing 87.At the through swinging axle 43 that is provided with of housing 87, housing 87 is supported on plants framework 15, can swing freely relative to planting framework 15 thus swinging axle 43 is supported to.Housing 87 is preferably used ferrum, aluminum is cast.

As described above, housing 87 covered structure is utilized such that it is able to prevent the intrusion of mud etc. such that it is able to improve the durability of device.

It addition, also be able to be configured such that the detection structure of the pendulum angle of swinging axle 43 is not accommodated in housing.In this case, preferred in the maintenance of the setting of detection structure of the pendulum angle of swinging axle 43, replacing, repairing etc such that it is able to realize the reduction of manufacturing cost.

3rd embodiment

In the 3rd embodiment shown in Figure 21, potentiometric transducer 80 possesses the potentiometer type axle 81 being connected to swinging axle 43 via connecting rod 87.Connecting rod 87 is made up of the arm 88 of the driven shaft 86 being respectively arranged at swinging axle 43 and potentiometer type axle 81 and the barred body 89 of linking arm 88.

Potentiometer type axle 81 is configured to parallel with swinging axle 43.It is connected to driven shaft 86 at potentiometer type axle 81.Swinging axle 43 and driven shaft 86 way portion wherein are respectively fixed with arm 88 (be arranged at the arm 88A of swinging axle 43 and be arranged at the arm 88B of driven shaft 86).The axially orthogonal direction that each arm 88A and arm 88B is respectively facing with swinging axle 43 and driven shaft 86 is arranged.

Arm 88A and arm 88B swing by the arm 88B swing with arm 88A in the way of the link that links via barred body 89.Barred body 89 has the two ends U-shaped shape to equidirectional complications, and tortuous two ends are individually fixed in arm 88A and the leading section of arm 88B.

When surface, field concavo-convex followed by sensor 30, if swinging axle 43 rotates, then driven shaft 86 rotates via connecting rod 87.Specifically, arm 88A swings with the rotation of swinging axle 43.By being linked to the linkage of the barred body 89 of arm 88A, the link distance between arm 88A and arm 88B is remained constant, and arm 88B is with driven shaft 86 for a spot wobble.Driven shaft 86 rotates with the swing of arm 88B.

The anglec of rotation of potentiometer type axle 81 is measured by potentiometric transducer 80, thus the anglec of rotation of driven shaft 86 is detected.And, by being respectively arranged at the length (length of arm 88A and arm 88B) of the connecting rod of driven shaft 86 and swinging axle 43, and the anglec of rotation according to driven shaft 86, calculate the pendulum angle of swinging axle 43.

In such a configuration, length of connecting rod is modified, even if thus the less swing of swinging axle 43 also is able to detect, therefore, it is possible to improve the detection energy based on sensor 30.It addition, be not arranged in potentiometer type axle 81 and swinging axle 43 being coaxially above arranged at the position separating an axle, thus the configuration degree of freedom of potentiometric transducer 80 increases.

4th embodiment

The potentiometric transducer 80 of above the first embodiment～the 3rd embodiment, possessing the rotation of adjoint swinging axle 43 and the potentiometer type axle 81 that rotates, the pendulum angle of this potentiometer type axle 81 being measured, thus detecting the angle of oscillation of swinging axle 43.

In the 4th embodiment shown in Figure 22, potentiometric transducer 90 possesses the rotation of adjoint swinging axle 43 and the linear axes 91 that moves linearly, the displacement of this linear axes 91 is measured, thus detecting the pendulum angle of swinging axle 43.

In order to make linear axes 91 be arranged at swinging axle 43 the cam 92 of middle part abut, and potentiometric transducer 90 is arranged at the suitable position in the portion of planting 4.

Cam 92 is fixed on the outer peripheral face of swinging axle 43.Cam 92 rotates with the rotation of swinging axle 43, thus linear axes 91 is applied pressing, or makes it relax, so that linear axes 91 moves.This displacement is measured, thus the pendulum angle of swinging axle 43 is detected.

As shown in figure 22, in the present embodiment, cam 92 be shaped so as in the scope abutted with linear axes 91, when rotating clockwise, relax pressing relative to linear axes 91, when rotating counterclockwise, apply pressing relative to linear axes 91.

In above structure, it is possible to by the less parts number of packages of linear axes 91 and cam 92 etc, the pendulum angle of swinging axle 43 is detected, therefore, it is possible to realize detection structure by easy structure.

Additionally, the pendulum angle of cam 92 only displacement according to this linear axes 91 can be measured by the shape of cam 92 in the scope abutted with linear axes 91, it is not limited to above-mentioned form.

The configuration of sensor

In the above embodiment, as shown in Figure 23 (a), it is shown in the structure of rice transplanter hull 14 sensors configured 30 of T font, but except the rice transplanter hull 14 of above-mentioned T font, it also is able to the rice transplanter hull 100 relative to the L font shown in Figure 23 (b) or rice transplanter hull 101 sensors configured 30 in the same manner of the U-shaped shown in Figure 23 (c).

As shown in Figure 23 (a), when relative to rice transplanter hull 14 sensors configured 30 of T font, it is respectively arranged with sensor 30 in the both sides of rice transplanter hull 14.Plant in the both sides of rice transplanter hull 14, therefore in the both sides of the rice transplanter hull 14 of T font difference sensors configured 30, the base end part of each pillar 42 of each sensor 30 is linked via common swinging axle 43.

Form above-mentioned structure such that it is able to by potentiometric transducer 80, the pendulum angle of swinging axle 43 is measured, even and if then face, field be convex-concave, it is also possible to along this face, field.

As shown in Figure 23 (b) and Figure 23 (c), in the rice transplanter hull 100 of L font and the rice transplanter hull 101 of U-shaped, planting position becomes a place, therefore, it is possible to arranged sensor 30 by monomer.

As shown in Figure 23 (b), when relative to rice transplanter hull 100 sensors configured 30 of L font, protuberance in rice transplanter hull 100 side is configured with sensor 30, is provided with swinging axle 43 in the way of extending from the base end part side to the left and right of the pillar 42 of this sensor 30 (side contrary with the protuberance of rice transplanter hull 100 side).The one end (side contrary with the side that same pillar 42 links) of this swinging axle 43 is supported on and plants framework 15.

Additionally, to arrange swinging axle 43 in the way of the extension of the base end part of pillar 42 both sides to the left and right, thus also being able at the both ends planting framework 15 and supporting swinging axle 43.

As shown in Figure 23 (c), when being configured at the rice transplanter hull 101 of U-shaped, central part at rice transplanter hull 101 is configured with sensor 30, to be provided with swinging axle 43 in the way of the base end part of the pillar 42 of this sensor 30 to the left and right two direction extensions.The both ends of swinging axle 43 are supported on and plant framework 15.

Additionally, to arrange swinging axle 43 in the way of the extension of the base end part of pillar 42 side to the left and right, thus it also is able to planting framework 15 and support the one end of swinging axle 43.

As described above, it is not limited to the shape of the rice transplanter hull that rice transplanter 1 possesses, i.e. bar number, it is possible to sensors configured 30.

Industrial utilizability

The present invention can be used in possesses the rice transplanter hull that field ground plane is detected, by this rice transplanter hull, surface, field is detected, according to this testing result, planting of rice shoot is highly detected, the portion of planting is adjusted to suitable height, and carries out the rice transplanter planted of rice shoot.

Description of reference numerals: 1 ... rice transplanter；4 ... plant portion；5 ... lifting unit；12 ... plant pawl；14 ... rice transplanter hull；15 ... plant framework；20 ... whole ground device；30 ... sensor；31 ... test section；32 ... support；40 ... barred body；41 ... stay；42 ... pillar；43 ... swinging axle.

Claims

1. a rice transplanter, possesses the rice transplanter hull of detection field ground plane, it is characterised in that

Possessing sensor, this sensor and described rice transplanter hull are provided separately, and surface, field is detected,

Described sensor has: follows the test section on surface, described field and is supported by this test section as swinging support freely,

Pendulum angle when following surface, field by measuring described test section, detects the height on surface, described field.

2. rice transplanter according to claim 1, it is characterised in that

Described test section is made up of multiple barred bodies,

By stay, same one end of multiple described barred bodies is supported, and multiple described barred body is can be fixed on described stay in the way of loading and unloading.

3. rice transplanter according to claim 2, it is characterised in that

4. the rice transplanter according to Claims 2 or 3, it is characterised in that

Described barred body is resin forming product.

5. rice transplanter according to claim 1, it is characterised in that

Described test section has thickness in vertical or left and right directions, and is configured to be formed as the plate of rake shape, and the base portion of this plate forms.

6. the rice transplanter according to any one of Claims 1 to 5, it is characterised in that

7. the rice transplanter according to any one of claim 1～6, it is characterised in that

8. the rice transplanter according to any one of claim 1～7, it is characterised in that